TuxMonkey/half-steering-basic-framework
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fricok butcant stop instantly.loader failure

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fcl
2026-03-19 18:27:03 +08:00
parent d0faf90d5e
commit ab0f770723
2 changed files with 24 additions and 19 deletions
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11
application/cmd/robot_cmd.c
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@@ -373,15 +373,20 @@ void RobotCMDTask() {
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
if (switch_is_down(rc_data[TEMP].rc.switch_left)){ // 遥控器左侧开关状态为[下],遥控器控制
RemoteControlSet();
shoot_cmd_send.shoot_mode =SHOOT_OFF;
}
shoot_cmd_send.shoot_mode =SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
}
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) {
// 遥控器左侧开关状态为[上],键盘控制
MouseKeySet();
shoot_cmd_send.shoot_mode =SHOOT_OFF;
}
else if (switch_is_mid( rc_data[TEMP].rc.switch_left)) {
else if (switch_is_mid(rc_data[TEMP].rc.switch_left)) {
// 遥控器左侧开关状态为[中],视觉模式，使用遥控器控制底盘和云台，同时开启发射系统
RemoteControlSet();
shoot_cmd_send.shoot_mode =SHOOT_ON;
shoot_cmd_send.bullet_speed = 30;
shoot_cmd_send.friction_mode = FRICTION_ON;
}
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况